WO2019176036A1 - Engin de chantier - Google Patents

Engin de chantier Download PDF

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Publication number
WO2019176036A1
WO2019176036A1 PCT/JP2018/010084 JP2018010084W WO2019176036A1 WO 2019176036 A1 WO2019176036 A1 WO 2019176036A1 JP 2018010084 W JP2018010084 W JP 2018010084W WO 2019176036 A1 WO2019176036 A1 WO 2019176036A1
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WO
WIPO (PCT)
Prior art keywords
work
notification
work machine
determination unit
notification area
Prior art date
Application number
PCT/JP2018/010084
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English (en)
Japanese (ja)
Inventor
和重 黒髪
坂本　博史
充基 時田
Original Assignee
日立建機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 日立建機株式会社 filed Critical 日立建機株式会社
Priority to US16/486,915 priority Critical patent/US11225777B2/en
Priority to JP2019546416A priority patent/JP6734485B2/ja
Priority to CN201880013759.XA priority patent/CN110494613B/zh
Priority to KR1020197024293A priority patent/KR102243677B1/ko
Priority to EP18905890.2A priority patent/EP3572590B1/fr
Priority to PCT/JP2018/010084 priority patent/WO2019176036A1/fr
Publication of WO2019176036A1 publication Critical patent/WO2019176036A1/fr

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    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/261—Surveying the work-site to be treated
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/24—Safety devices, e.g. for preventing overload
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q5/00—Arrangement or adaptation of acoustic signal devices
    • B60Q5/005—Arrangement or adaptation of acoustic signal devices automatically actuated
    • B60Q5/006—Arrangement or adaptation of acoustic signal devices automatically actuated indicating risk of collision between vehicles or with pedestrians
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/261—Surveying the work-site to be treated
    • E02F9/262—Surveying the work-site to be treated with follow-up actions to control the work tool, e.g. controller
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
    • E02F3/32—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom working downwardly and towards the machine, e.g. with backhoes
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/264—Sensors and their calibration for indicating the position of the work tool

Definitions

  • the present invention relates to a work machine.
  • Patent Document 1 One example of an apparatus that has attempted to solve such a problem is disclosed in Patent Document 1, for example.
  • This device is used to control the stop of the work vehicle when an intruder such as an operator is detected in the intrusion prohibited area set around the work vehicle. Can be set, thereby suppressing unnecessary stop control intervention and preventing a reduction in work efficiency.
  • the intrusion prohibition area can be set according to the work content of the intruder, when the work of the work machine changes, it is necessary for the operator to set the entry prohibition area each time. In such a situation where the work is switched frequently, the operator's work load increases. Such an increase in the operator's work load may cause a decrease in work efficiency.
  • the intrusion prohibition area setting operation becomes cumbersome, so even if you forget to set the intrusion prohibition area or the work machine changes, the intrusion prohibition area remains fixed. There is a possibility that the originally assumed operation such as operating the work machine may not be performed. In such unexpected operations, unnecessary notifications and suppression of work machine operation restrictions are not sufficiently performed, and as a result, work efficiency may be reduced.
  • the present invention has been made in view of the above, and by suppressing an increase in the burden on the operator, it is possible to reduce work efficiency while performing appropriate control with respect to obstacles existing around the work machine without excess or deficiency.
  • An object is to provide a work machine that can be suppressed.
  • the present application includes a plurality of means for solving the above-described problems. For example, a vehicle body, a work machine attached to the vehicle body, and an operation signal for driving the work machine are detected.
  • An obstacle position calculation unit that detects an obstacle existing around a work machine having an operation signal detection device, the vehicle main body, and the work machine, and calculates a relative position of the detected obstacle with respect to the work machine.
  • the work machine includes a work mode selection device that selects a work mode of the work machine, and the control device is based on a detection result of the operation signal detection device.
  • a work determination unit that determines whether or not a work content different from the work content of the work mode selected by the work mode selection device is being performed.
  • a minimum notification area determination unit that selects one of a plurality of minimum notification areas preset around the work machine based on a selection result of the work mode selection device and a determination result of the work determination unit; and the obstacle
  • a notification signal is output. It shall have a notice judging part outputted to a notice device.
  • the present invention by suppressing an increase in the burden on the operator, it is possible to suppress a decrease in work efficiency while performing appropriate control with respect to obstacles around the work machine without excess or deficiency.
  • FIG. 1 is a diagram schematically showing a configuration of a hydraulic excavator that is an example of a work machine according to an embodiment of the present invention.
  • FIG. It is a functional block diagram which shows a part of processing function of the circumference
  • FIG. 1 is a diagram schematically showing a configuration of a hydraulic excavator that is an example of a work machine according to an embodiment of the present invention.
  • a hydraulic excavator 1 which is a work machine is attached to a crawler type lower traveling body 1e and an upper part of the lower traveling body 1e so as to be able to turn, and together with the lower traveling body 1e, constitutes an upper part constituting a vehicle body 1B of the working machine And a revolving body 1d.
  • the lower traveling body 1e is driven by left and right traveling hydraulic motors 3e (only one is shown in FIG. 1).
  • the upper swing body 1d is driven by torque generated by a swing hydraulic motor (not shown) and swings in the left-right direction.
  • a driver's cab 1f is installed on the upper swing body 1d, and an articulated front working device 1A (working device) for forming a target landform is attached to the side of the driver's cab 1f in front of the upper swing body 1d. It has been.
  • the front working device 1A (working device) is configured by connecting a boom 1a, an arm 1b, and a bucket 1c that rotate in the vertical direction, respectively, and a boom cylinder 3a, an arm cylinder 3b, and a bucket cylinder, respectively. It is driven by 3c.
  • the boom 1a, the arm 1b, the bucket 1c, and the upper swing body 1d are provided with angle sensors 8a, 8b, 8c, and 8d (attitude information acquisition devices) that detect relative angles as the respective attitude information.
  • an IMU Inertial Measurement Unit
  • a relative angle may be obtained from the measured values.
  • An operation signal for driving the boom cylinder 3a, arm cylinder 3b, bucket cylinder 3c, travel hydraulic motor 3e and swing hydraulic motor (not shown) is supplied to the cab 1f (pilot pressure in the case of a hydraulic drive system).
  • An operation lever (not shown) for operating the boom 1a, the arm 1b, the bucket 1c, the upper swing body 1d, and the lower traveling body 1e according to the operation signal is generated according to the operation direction and the operation amount.
  • Touch panel monitor 15a see FIG. 2 below
  • mode selection device 16a see FIG.
  • the information processing controller 200 (see FIG. 2 below) is disposed as a control device that controls the overall operation of the pressure excavator 1.
  • the operation lever is provided with pilot pressure sensors 9a, 9b, 9c, and 9d (operation signal detection devices) for detecting an operation signal (here, pilot pressure) output from the operation lever by the operator.
  • the mode selection device 16a may be configured by a switch or the like provided in the cab 1f, and the function of the mode selection device 16a is realized by selecting a work mode by input to the touch panel monitor 15a. You may comprise as follows.
  • Stereo cameras 13a, 13b, 13c, and 13d for capturing moving images in each direction are installed at the rear, right side, left side, and front of the upper swing body 1d, respectively.
  • FIG. 2 is a functional block diagram showing a part of the processing functions of the surrounding monitoring device in the hydraulic excavator together with related configurations.
  • the surroundings monitoring device is mounted on the information processing controller 200.
  • the information processing controller 200 is connected to each device of the excavator 1 and repeats the processing operation at a constant cycle.
  • the information processing controller 200 includes, as processing functions of the surrounding monitoring device, a visibility characteristic calculation unit 210, a dynamic characteristic calculation unit 220, a work determination unit 230, a minimum notification region determination unit 240, a notification region determination unit 250, a storage unit 260A, an obstacle.
  • a position calculation unit 270 and a notification determination unit 280 are provided, and when an obstacle such as a worker is detected inside a notification region set around the hydraulic excavator 1, a notification signal (for example, a notification device) By outputting to the buzzer 15b), the operator is notified of the approach of the obstacle.
  • the visual field characteristic calculation unit 210 is a region (direct visual field region, indirect visual field) that can be visually recognized from the operator cab 1f around the hydraulic excavator 1 according to the posture of the front work device 1A (boom 1a, arm 1b, bucket 1c). Area).
  • the front work device 1A is arranged on the right front side from the cab 1f.
  • the area visible from the cab 1f changes. Therefore, in order to obtain the visibility characteristics of the hydraulic excavator 1, it is necessary to consider the posture of the front working device 1A.
  • FIG. 3 is a diagram showing a processing flow of the visual field characteristic calculation unit.
  • the visual field characteristic calculation unit 210 first detects the detection results (output values) from the angle sensors 8a to 8c and the front work device 1A (boom 1a, arm 1b) previously stored in the information storage unit 261 of the storage unit 260A. Based on the front shape data 211 of the bucket 1c), information on the positions and sizes of the boom 1a, the arm 1b, and the bucket 1c in the vehicle body coordinate system (the coordinate system set for the upper swing body 1d) is provided. A model of the calculated front work device 1A is generated (step 212).
  • the operator's head position at the time of operation by the operation lever device of the excavator 1 is determined by a predetermined calculation method (for example, a standard position determined by ISO) (step 213), and the operator's head position is determined.
  • a predetermined calculation method for example, a standard position determined by ISO
  • An arbitrary representative point on the ground surface is determined with reference to the origin (step 214), and a three-dimensional vector (operator's line-of-sight vector) toward the determined representative point is determined (step 215).
  • a three-dimensional vector toward the determined representative point
  • step 214 to step 216 is repeatedly performed until all the representative points on the ground surface are performed (step 217), and the processing of step 214 to step 216 is completed for all the representative points.
  • visual field characteristic data which is information relating to the visual field of the operator, such as an area that becomes the blind spot of the operator from the cab 1f outside the hydraulic excavator 1 is determined (step 218).
  • the visual characteristic data calculated by the visual characteristic calculation unit 210 is output to the minimum notification area determination unit 240.
  • the calculation method of the operator's head position is not particularly limited to the above method, and the calculation of the head position with high accuracy is performed by using some measurement means, and the visual judgment with higher accuracy is performed. It is also possible to do.
  • the visual field characteristics of the area that is not affected by the posture of the front work apparatus 1A are stored in advance, and together with the visual characteristic data calculated by the processing of the visual characteristic calculation unit 210, the direct visual field area that can be viewed by the operator's direct viewing,
  • point cloud data representing each area it is classified into three types of areas: an indirect field of view that can be viewed with a mirror or a monitor (that is, imaging with stereo cameras 13a to 13d) and a blind spot area that cannot be viewed.
  • the information is output to the minimum notification area determination unit 240. 4 shows an example of the posture of the excavator 1 during work
  • FIG. 5 shows an example of the direct view area 401, the indirect view area 402, and the blind spot area 403 around the excavator 1 in the posture of FIG. .
  • the dynamic characteristic calculation unit 220 calculates the shortest collision prediction time.
  • the shortest collision prediction time is a prediction of the shortest time required for at least a part of the excavator 1 to reach each region around the excavator 1, and the maximum speed of the excavator 1 is determined from the posture at that time. It is the time to reach the target area when operating on the shortest path.
  • FIG. 6 is a diagram showing a processing flow of the dynamic characteristic calculation unit.
  • the dynamic characteristic calculation unit 220 first detects the detection results (output values) from the angle sensors 8a to 8c and the front work device 1A (boom 1a, arm 1b) previously stored in the information storage unit 261 of the storage unit 260A. Based on the front shape data 211 of the bucket 1c), the tip position of the bucket 1c in the vehicle body coordinate system is calculated (step 221). Next, based on the tip position of the bucket 1c obtained in step 221 (hereinafter referred to as bucket tip position), a model body model of the entire hydraulic excavator 1 including the front work device 1A and the vehicle main body 1B is generated (step). 222).
  • the shortest collision prediction time when the current bucket tip position is set as the initial position is calculated (step 223).
  • the basic dynamic characteristic data 505 stores, for example, the maximum operating speed (maximum turning angular speed, maximum traveling speed, etc.) as basic dynamic characteristics of each actuator, and the boom cylinder 3a, arm cylinder 3b, bucket cylinder 3c, The shortest collision prediction time is calculated based on the maximum speed when the turning motor (not shown) and the left and right traveling hydraulic motors 3e (only one is shown) are actuated independently in each operation direction.
  • the dynamic characteristics of each actuator vary depending on the initial posture of the front working apparatus 1A, the hydraulic oil temperature, and the presence / absence of the combined operation. Here, it is assumed that each actuator operates at the maximum operating speed. Subsequently, the dynamic characteristic data is generated by integrating the calculation results in step 223 (step 224). The dynamic characteristic data generated by the dynamic characteristic calculation unit 220 is output to the minimum notification area determination unit 240.
  • the work determination unit 230 is performing the work assumed in the work mode selected for the excavator 1, in other words, the work determination unit 230 has a work content different from the work content of the work mode selected by the mode selection device 16a. Determine if work is being performed.
  • FIG. 7 is a diagram showing a flow of processing of the work determination unit.
  • the work determination unit 230 first identifies the work mode currently selected by the mode selection device 16a (step 232), and determines whether the currently selected work mode is the standard mode (step 233). ).
  • the standard mode is a work mode for performing basic work. In the standard mode, it is selected when performing normal excavation and earthing work or traveling operation.
  • the operation of the hydraulic excavator 1 can be roughly classified into five operations: a boom operation, an arm operation, a bucket operation, a turning operation, and a traveling operation. In the standard mode, it is assumed that various movements are required according to the work contents based on excavation and earthing and traveling, and thus any of the above five operations may be performed.
  • MG mode is a work mode that is selected mainly when performing leveling work.
  • information on the relative position between the target ground surface and the tip of the bucket 1c is displayed on a display device such as the touch panel monitor 15a installed in the cab 1f.
  • the operator Based on the information displayed on the display device (for example, the touch panel monitor 15a), the operator performs an operation while viewing the front end of the bucket 1c directly by performing an operation so that the front end position of the bucket 1c matches the target surface. It becomes possible to align the bucket 1c more easily than that.
  • the leveling work is mainly performed. Therefore, as the operation of the hydraulic excavator 1, the boom operation, the arm operation, and the bucket operation are mainly performed. Both are assumed to be small.
  • the soil volume measurement mode is a mode for measuring the weight of the excavated soil.
  • the operator checks the loading amount displayed on the monitor so as not to overload. Do work.
  • excavation and loading work is the center, so it is assumed that boom operation, arm operation, bucket operation, and turning operation are mainly performed.
  • a state in which work with a work content different from the work content of the selected work mode is being performed can also be considered as a work mode other than the three work modes selected by the mode selection device 16a being selected. Therefore, this state can also be considered as one of the work modes.
  • step 233 If the determination result in step 233 is NO, that is, if the currently set work mode is other than the standard mode, the current operation of the excavator 1 is the currently set work mode (for example, the MG mode). Or the soil volume measurement mode), that is, whether the current work is a judgment condition for judging whether the work content different from the work content of the selected work mode is being performed. It is determined according to the mode (step 234).
  • the currently set work mode for example, the MG mode.
  • the soil volume measurement mode that is, whether the current work is a judgment condition for judging whether the work content different from the work content of the selected work mode is being performed. It is determined according to the mode (step 234).
  • the determination conditions used in step 234 are preset for each type of work mode, and are stored in the information storage unit 261 of the storage unit 260A. For example, in the MG mode, it is determined that the traveling and turning operations have continued for a certain time or more. In the soil amount measurement mode, the traveling operation or the turning operation is not performed for a certain time or more. And so on.
  • the work determination unit 230 performs operation identification based on the detection results (output values) of the pilot pressure sensors 9a to 9d in parallel with the identification of the work mode in Step 232 (Step 231).
  • a pilot pressure is changed by operating an operation lever device by an operator (that is, an operation signal is generated), a boom cylinder 3a, an arm cylinder 3b, a bucket cylinder 3c, a swing motor (not shown), and Since the flow rate of the oil that drives the actuators of the left and right traveling hydraulic motors 3e (only one shown) is controlled, it is possible to identify the operation content of the machine from the pilot pressure (operation signal).
  • the operation is classified and defined into five operations: a boom operation, an arm operation, a bucket operation, a turning operation, and a traveling operation.
  • step 236 It is determined whether or not the operation of the hydraulic excavator 1 identified in step 231 matches the determination condition determined in step 234 (step 236). If the determination result is NO, that is, if the determination result does not match, the selection is made. The work flag is set to False (step 237), and the work flag (False) is output to the minimum notification area determination unit 240 as the output of the work determination unit 230. To do.
  • step 236 If the determination result in step 236 is YES, that is, if the operation of the excavator 1 matches the determination condition, the work flag is set to True (step 236), and the work flag is output as the output of the work determination unit 230. (True) is output to the minimum notification area determination unit 240.
  • step 233 If the determination result in step 233 is YES, that is, if the currently set work mode is the standard mode, the work flag is set to False (step 237), and the work flag is output as the work determination unit 230. (False) is output to the minimum notification area determination unit 240.
  • the work flag is set to False as in the case where it is determined that a work having a work content different from the work content in the selected work mode is being performed.
  • FIG. 8 is a diagram showing a flow of processing of the minimum notification area determination unit.
  • the minimum notification area determination unit 240 determines the hydraulic excavator 1 according to the calculation results of the visibility characteristic calculation unit 210 and the dynamic characteristic calculation unit 220, the determination result of the work determination unit 230, the work mode selected by the mode selection device 16a, and the like.
  • the minimum notification area set around is calculated.
  • the minimum notification area is an area that is set for each notification area corresponding to each work mode and cannot be changed by an operator or the like, which will be described later.
  • the minimum notification area determination unit 240 first calculates the visibility level for the area around the hydraulic excavator 1 based on the visual field characteristic data of the excavator 1 calculated by the visual characteristic calculation unit 210 (step 241). ).
  • the visibility level is an index indicating the visibility from the operator, and indicates that the region with the higher visibility level is easier for the operator to see and the region with the lower visibility level is less visible for the operator.
  • the visual field characteristic data is information on each area of the direct visual field area, the indirect visual field area, and the blind spot area around the hydraulic excavator 1, and in step 241, level 3 is set in the direct visual field area and level 2 is set in the indirect visual field area.
  • the level 1 is determined (calculated) as the visibility level in the blind spot area.
  • the dynamic characteristic level of the hydraulic excavator 1 is calculated based on the dynamic characteristic data of the hydraulic excavator 1 calculated by the dynamic characteristic calculation unit 220 (step 242).
  • the dynamic characteristic data represents the shortest collision prediction time in the area around the hydraulic excavator 1, and in step 241, the dynamic characteristic level is determined (calculated) according to the length of the shortest collision prediction time. .
  • FIG. 9 is a diagram showing an example of determining the dynamic characteristic level for the dynamic characteristic data.
  • level 1 is set in the area 901 having the shortest collision time of 1 [s] or less, and the area having the shortest collision time of 1 to 3 [s].
  • Level 2 is determined (calculated) as the dynamic characteristic level in level 902, and level 3 in the region 903 where the shortest collision time is 3 [s] or more.
  • the total level is calculated based on the visibility level calculated in step 241 and the dynamic characteristic level calculated in step 242.
  • the total level is calculated by, for example, the product of the visibility level and the dynamic characteristic level, and the lower the total level, the higher the need to notify the operator of the entry of obstacles such as workers. Indicates.
  • the above calculation method for example, when the visibility level of the area for which the overall level is to be calculated is level 2 and the dynamic characteristic level is level 3, the overall level of the area is the level. 6 is determined.
  • the method for determining each of the visibility level, the dynamic characteristic level, and the overall level is not limited to the example described above, but the type of work machine to which the present invention is applied and its work environment. It is possible to appropriately change in consideration of factors such as.
  • the minimum notification area when the work mode is the standard mode is read from the information storage unit 261 of the storage unit 260A and set (step 244). Since the lower the total level obtained by the product of the visibility level and the dynamic characteristic level, the harder it is to see from the operator of the cab 1f and the shorter the time until the collision, it is set as the minimum notification area. The need becomes higher.
  • an area where the total level is 1 is set as the minimum notification area, but the range of an additional notification area (described later) that can be arbitrarily determined by the operator is determined by setting the threshold here. The operation may be performed with an arbitrary threshold according to the judgment of the administrator or the like.
  • step 245 it is determined whether or not the current work mode is the standard mode. If the work mode is other than the standard mode, the determination result of the work determination unit 230 is determined. Based on the above, it is confirmed whether or not a work having a work content different from the work content in the selected work mode is performed, that is, whether or not the work flag is False (step 246). In step S246, when the work flag is not False (that is, when the work flag is True), that is, when the work of the work content of the selected work mode is being performed, the minimum notification corresponding to the work mode is performed. The area is read from the information storage unit 261 of the storage unit 260A and set (step 247), and the set minimum notification area is output to the notification area determination unit 250.
  • the minimum notification area is set in consideration of the characteristics in each work mode. For example, in the MG mode, the operation of the front work apparatus 1A is mainly performed. Therefore, the minimum notification area is set with respect to the area near the front end position of the bucket 1c, and the frequency of performing the traveling operation is low. In consideration, the minimum notification area behind the vehicle body (vehicle main body 1B) is set narrower than the standard mode. Similarly, since the turning operation is mainly performed in the soil amount measurement mode, the minimum notification area with respect to the turning direction of the front work device 1A and the turning direction of the rear end of the vehicle main body 1B is expanded, and the traveling frequency / distance is reduced. Accordingly, the operation of reducing the minimum notification area to the rear of the vehicle main body 1B is effective.
  • step 245 determines whether the work mode is the standard mode. If the determination result in step 245 is YES, that is, if the work mode is the standard mode, the minimum notification area (standard mode) set in step 244 is output to the notification area determination unit 250.
  • step 246 determines whether the work flag from the work determination unit 230 is False and work with work content different from the work content of the selected work mode is being performed. Even in the case where it is set, the minimum notification area (standard mode) set in step 244 is output to the notification area determination unit 250. That is, when a work with a work content different from the work content of the selected work mode is being performed, it is difficult to estimate the operation of the hydraulic excavator 1 that is a work machine, so the minimum notification area in the standard mode is applied. .
  • FIG. 10 is a diagram illustrating a process flow of the notification area determination unit.
  • the notification area determination unit 250 uses the minimum notification area determination unit 240 to display a current work mode (standard mode, MG mode, soil volume measurement mode, work mode (mode) indicating work of work content different from the work content of the selected work mode.
  • the notification area set around the excavator 1 is calculated with respect to the minimum notification area determined for the external work).
  • the notification area is an area in which a minimum notification area set for each work mode and an additional notification area set by an operator or the like for each work mode are combined. That is, the notification area is changed to the work mode when the work mode including the work with the work content different from the work content of the selected work mode is changed (that is, when the minimum notification area is changed). Switch to match.
  • FIG. 8 the case where the same minimum notification area is used when the work of the work content different from the work content of the standard mode and the selected work mode is performed is illustrated. is doing.
  • the notification area determination unit 250 first determines whether or not the minimum notification area has been changed (step 251). If the determination result is YES, a notification area (additional notification) is notified from the notification area setting storage unit 260. Area) is read (step 252), and a notification area including the minimum notification area from the minimum notification area determination unit 240 and the previous setting value of the additional notification area is output to the touch panel monitor 15a (step 253). If the determination result is NO, the minimum notification area and the additional notification area are output to the touch panel monitor 15a as they are (step 253).
  • FIG. 11 is a diagram illustrating an example of a notification area displayed on the touch panel monitor.
  • a minimum notification area 1101 and an arbitrarily set additional notification area 1102 are displayed on the touch panel monitor 15 a centering on the excavator 1 as a work machine, and the operator forms the additional notification area 1102.
  • the additional notification area 1102 is set to an arbitrary range by performing addition or deletion of the variable point 1103 to be performed, position change, and the like by a touch operation.
  • the work in the work mode selected by the operator is displayed together with the display 1104 notifying the currently set work mode.
  • a display 1104a is displayed for notifying that the notification area has been switched by performing work with work content different from the content.
  • step 253 it is determined whether the operator has set the notification area output to the touch panel monitor 15a, that is, whether the additional notification area has been changed (step 254). If the determination result is NO, The set notification area (minimum notification area 1101 and additional notification area 1102) is output to the notification determination unit 280 as a determination result of the notification area determination unit 250.
  • step 254 When the determination result in step 254 is YES, that is, when the additional notification area is changed, the notification area is set (minimum notification area 1101 and additional notification area 1102 or additional notification area 1102 only). Is output to the notification area setting storage unit 260 and stored as the previous set value (step 255), and the notification area is displayed again on the touch panel monitor 15a (step 253).
  • the notification area setting storage unit 260 stores a notification area in each work mode set by the operator, and a notification range by changing the work mode (including a shift to work with work contents different from the work contents of the selected work mode). When the switch occurs, it is output as the previous set value. By performing such processing, even in an environment where the work mode is frequently switched, it is possible to reduce time and effort for the operator to reset the notification range each time.
  • the obstacle position calculation unit 270 detects the presence of an obstacle such as a worker through image processing based on the two images respectively acquired by the stereo cameras 13a to 13d, and calculates the position. First, feature points are extracted from images acquired by the stereo cameras 13a to 13d, and workers are detected based on pre-stored learning data. Next, the detected position of the obstacle such as a worker on the image is converted into the three-dimensional coordinates of the stereo camera coordinate system based on the parallax image generated from the two images. The obstacle position calculation unit 270 stores the positions and angles at which the stereo cameras 13a to 13d are mounted on the vehicle body coordinate system, and converts the detected position of the worker from the stereo camera coordinate system to the vehicle body coordinate system.
  • the relative position of the excavator 1 and the worker is grasped.
  • the form of worker detection using the stereo cameras 13a to 13d is shown.
  • LIDAR Laser Imaging Detection and Ranging
  • GNSS Global Navigation Satellite System
  • the notification determination unit 280 determines whether there is an obstacle such as a worker in the notification region based on the outputs from the notification region determination unit 250 and the obstacle position calculation unit 270, and there is an obstacle. When doing so, a notification signal is output to a notification device (for example, buzzer 15b).
  • a notification device for example, buzzer 15b
  • FIG. 12 is a diagram schematically showing the relationship between the excavator 1 which is a work machine and the position where each work is performed.
  • the excavator 1 moves from the parking point A to the work point B where excavation and loading work is performed, and then moves to the work point C where the slope shaping (leveling) work is performed. And then return to parking point A.
  • the excavator 1 When moving from parking point A to work point B, travel in standard mode and move. At this time, the excavator 1 takes a running posture as shown in FIG. In the traveling posture, the right front of the excavator 1 becomes a blind spot from the cab 1f, so that area is automatically set as the minimum notification area. At this time, the minimum notification area is set as a minimum notification area 1301 shown in FIG. 13, for example.
  • FIG. 15 shows an example of the minimum notification area in the soil volume measurement mode.
  • FIG. 15 illustrates a case where the minimum notification area 1501 is set.
  • the work flag becomes True.
  • the minimum notification area is switched to the same minimum notification area as in the standard mode. Note that since the previous setting value is stored in the notification area setting storage unit 260 for the notification area, if the operator arbitrarily sets a notification area (additional notification area) in the standard mode in advance, the notification at that time The area setting is reflected.
  • FIG. 16 is a diagram illustrating an example of the minimum notification area in the MG mode.
  • the leveling work is repeated while moving the work machine to the right. Therefore, the operator performs a work by setting a wide notification area (that is, an additional notification area) in the right direction as shown in FIG.
  • a wide notification area that is, an additional notification area
  • the operator switches the work mode to the standard mode and performs a traveling operation to parking point A.
  • the operator can set a notification area suitable for basic work contents only by switching the work mode, and only when it is determined that a wider notification area is required, Thus, since the operation of setting the notification area by arbitrarily setting the additional notification area is performed, it is possible to reduce the setting effort performed by the operator.
  • a minimum notification area is defined for each work mode, and the minimum notification area suitable for the work mode selected in the hydraulic excavator 1 which is a work machine is automatically set. Since the switching is performed, it is possible to reduce the trouble for the operator to reset the notification area for each work.
  • the vehicle main body 1B, the front work device 1A (work machine) attached to the vehicle main body 1B, and the pilot pressure sensors 9a to 9b for detecting operation signals for driving the front work device 1A An obstacle that is present around a hydraulic excavator 1 (work machine) having a vehicle main body 1B and a front work device 1A is detected, and a relative position of the detected obstacle to the hydraulic excavator 1 is calculated.
  • the hydraulic excavator 1 includes a mode selection device 16a for selecting a work mode of the hydraulic excavator 1, and the information processing controller 200 indicates that the work content of the excavator 1 is selected based on the detection results of the pilot pressure sensors 9a to 9b.
  • the work determination unit 230 determines whether or not the work content different from the work content of the work mode selected by the device 16a is being performed, the selection result of the mode selection device 16a, and the determination result of the work determination unit 230.
  • the relative position of the obstacle calculated by the obstacle position calculation unit 270 with respect to the hydraulic excavator 1 is determined by a minimum notification area determination unit 240 that determines one of a plurality of minimum notification areas set in advance around the hydraulic excavator 1. And a notification determination unit 280 that outputs a notification signal to the buzzer 15b (notification device) when inside the notification region set to include the minimum notification region determined by the minimum notification region determination unit 240. did.
  • the work machine includes the notification area determination unit 250 for an operator to determine an arbitrary area including the minimum notification area determined by the minimum notification area determination unit 240 as a notification area.
  • the work machine of (2) includes a notification region setting storage unit 260 that stores the notification region determined by the notification region determination unit 250 for each minimum notification region, and the notification region determination unit 250 includes the minimum notification region. Based on the minimum notification area determined by the determination unit 240, the notification area is read from the notification area setting storage unit 260.
  • the hydraulic excavator has been described as an example.
  • the present invention can be applied to any working machine (for example, a wheel loader or a crane) including a working device that may block the operator's view from the cab. It is.
  • each configuration related to the information processing controller (control device) 200, functions and execution processing of the configurations, etc. are partly or entirely designed by hardware (for example, logic for executing each function is an integrated circuit) Or the like).
  • the configuration related to the information processing controller 200 may be a program (software) that realizes each function related to the configuration of the information processing controller 200 by being read and executed by an arithmetic processing device (for example, a CPU).
  • Information related to the program can be stored in, for example, a semiconductor memory (flash memory, SSD, etc.), a magnetic storage device (hard disk drive, etc.), a recording medium (magnetic disk, optical disc, etc.), and the like.
  • control line and the information line are shown to be understood as necessary for the description of the embodiment, but all the control lines and information lines related to the product are not necessarily included. It does not always indicate. In practice, it can be considered that almost all the components are connected to each other.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Mechanical Engineering (AREA)
  • Component Parts Of Construction Machinery (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

La présente invention concerne : un dispositif de sélection de mode (16a) qui sélectionne un mode de travail pour une pelle hydraulique (1) ; une unité d'évaluation de travail (230) qui évalue si le contenu de travail de la pelle hydraulique est un contenu autre que le mode de travail sélectionné, sur la base de résultats de détection obtenus par des capteurs de pression pilote (9a -9 b) ; une unité de détermination de région de notification minimale (240) qui détermine l'une d'une pluralité de régions de notification minimale prédéfinies autour de la pelle hydraulique (1), une telle détermination étant effectuée sur la base des résultats de sélection du dispositif de sélection de mode (16a) et des résultats d'évaluation de l'unité d'évaluation de travail (230) ; et une unité d'évaluation de notification (280) qui délivre un signal de notification à un avertisseur sonore (15b) si la position relative d'un obstacle, calculée par une unité de calcul de position d'obstacle (270), se trouve à l'intérieur d'une région de notification définie de façon à inclure la région de notification minimale déterminée par l'unité de détermination de région de notification minimale (240). Par conséquent, du fait de la suppression des augmentations de la charge de l'opérateur, des baisses de l'efficacité de travail peuvent être supprimées tandis qu'un contrôle approprié sans excès ou déficience est appliquée à un obstacle présent autour de la machine de travail.
PCT/JP2018/010084 2018-03-14 2018-03-14 Engin de chantier WO2019176036A1 (fr)

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US16/486,915 US11225777B2 (en) 2018-03-14 2018-03-14 Work machine
JP2019546416A JP6734485B2 (ja) 2018-03-14 2018-03-14 作業機械
CN201880013759.XA CN110494613B (zh) 2018-03-14 2018-03-14 工作机械
KR1020197024293A KR102243677B1 (ko) 2018-03-14 2018-03-14 작업 기계
EP18905890.2A EP3572590B1 (fr) 2018-03-14 2018-03-14 Engin de chantier
PCT/JP2018/010084 WO2019176036A1 (fr) 2018-03-14 2018-03-14 Engin de chantier

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KR102243677B1 (ko) 2021-04-23
EP3572590A1 (fr) 2019-11-27
CN110494613A (zh) 2019-11-22
US20200277757A1 (en) 2020-09-03
KR20190109472A (ko) 2019-09-25
JPWO2019176036A1 (ja) 2020-04-16
EP3572590B1 (fr) 2022-02-09
EP3572590A4 (fr) 2020-12-09
US11225777B2 (en) 2022-01-18
JP6734485B2 (ja) 2020-08-05
CN110494613B (zh) 2022-03-08

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